// Copyright (c) 2012, Hazen Eckert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the The University of Texas at Dallas nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE UNIVERSITY OF TEXAS AT DALLAS BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include <stdint.h>
#include <stdio.h>
#include <strings.h>
#include <stdlib.h>
#include <string.h>

#define STX 0x02
#define ETX 0x03

using namespace std;

#include "auv_passive_sonar_driver/passive_sonar_driver.h"

passive_sonar_driver::passive_sonar_driver()
{
}

int passive_sonar_driver::identifyBoard( bool *identity )
{
    ICDpacket *packet = new ICDpacket;
    
    packet->type = 0x30;
    packet->flags = 0x00;
    packet->length = 0x02;
    packet->data = (uint8_t *)"BA";
    
    sendICDpacket(packet);
    
    delete packet;
    
    packet = recieveICDpacket();
    if (packet == NULL)
    	return -1;
    // error checking
    if ( *(uint8_t *)(packet->data) == 1 && *(uint8_t *)(packet->data+1) == 0 ) {
        *identity = true;
    } else {
        *identity = false;
    }
    
    free(packet->data);
    
    delete packet;
    
    return 0;
}

int passive_sonar_driver::getTimeDelay( int16_t *timeDiff1, int16_t *timeDiff2, uint32_t *timeOfPing, uint32_t *currentTime)
{
    ICDpacket *packet = new ICDpacket;
    
    packet->type = 0x31;
    packet->flags = 0x00;
    packet->length = 0x02;
    packet->data = (uint8_t *)"VU";
    
    sendICDpacket(packet);
    
    delete packet;
    
    packet = recieveICDpacket();
    if (packet == NULL)
    	return -1;
    // error checking
    *timeDiff1 = *(int16_t *)(packet->data+1);
    *timeDiff2 = *(int16_t *)(packet->data+3);
    *timeOfPing = *(uint32_t *)(packet->data+5);
    *currentTime = *(uint32_t *)(packet->data+9);
    
    free(packet->data);
    
    delete packet;
    
    return 0;
}

int passive_sonar_driver::setCompetitionMode()
{
    ICDpacket *packet = new ICDpacket;
    
    packet->type = 0x32;
    packet->flags = 0x00;
    packet->length = 0x02;
    packet->data = (uint8_t *)"DG";
    
    sendICDpacket(packet);
    
    delete packet;
    
    packet = recieveICDpacket();
    if (packet == NULL)
    	return -1;
    // error checking
    
    free(packet->data);
    
    delete packet;
    
    return 0;
}

int passive_sonar_driver::setPracticeMode()
{
    ICDpacket *packet = new ICDpacket;
    
    packet->type = 0x33;
    packet->flags = 0x00;
    packet->length = 0x02;
    packet->data = (uint8_t *)"HK";
    
    sendICDpacket(packet);
    
    delete packet;
    
    packet = recieveICDpacket();
    if (packet == NULL)
    	return -1;
    // error checking
    
    free(packet->data);
    
    delete packet;
    
    return 0;
}
